/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_BARO_BMP085_H__
#define __AP_BARO_BMP085_H__

#define PRESS_FILTER_SIZE 2

#include "AP_Baro.h"
#include <AverageFilter.h>

//#define AP_BARO_BMP085_DEBUG_ENABLE

class AP_Baro_BMP085 : public AP_Baro
{
  public:
	// Constructor
	AP_Baro_BMP085(HardwareI2C *i2c_d, FastSerial *ser_port);

    /* AP_Baro public interface: */
    bool    init(AP_PeriodicProcess * scheduler);
    uint8_t read();
    float get_pressure();
    float get_temperature();

    int32_t get_raw_pressure();
    int32_t get_raw_temp();
    int16_t get_samples();
	void update();

  private:
	int32_t RawPress;
	int32_t RawTemp;
	int16_t Temp;
	uint32_t Press;

    // State machine
    uint8_t BMP085_State;
	// Internal calibration registers
	int16_t ac1, ac2, ac3, b1, b2, mb, mc, md;
    uint16_t ac4, ac5, ac6;

	AverageFilterInt32_Size4 _temp_filter;

    uint32_t _retry_time;

    HardwareI2C *_I2Cx;

    void Command_ReadPress();
	void Command_ReadTemp();
	void ReadPress();
	void ReadTemp();
	void Calculate();
};

#endif // __AP_BARO_BMP085_H__
